Inter-vehicle cooperation for vehicle self imaging

ABSTRACT

Method and apparatus are disclosed for inter-vehicle cooperation for vehicle self imaging. An example vehicle includes an inter-vehicle communication module and a infotainment head unit. The infotainment head unit determines a pose of the vehicle and, in response to receiving an input to generate a composite image, broadcasts a request for images of the vehicle. The request message includes the pose. The infotainment head unit also generates the composite image of the vehicle based on the images and display the composite image on a display.

TECHNICAL FIELD

The present disclosure generally relates to vehicle-to-vehiclecommunication and, more specifically, inter-vehicle cooperation forvehicle self imaging.

BACKGROUND

Individuals are interested in documenting their lives via pictures(sometimes referred to as a “selfie”). However, documenting the drivingexperience while the driver is in the vehicle traditionally requiresmobile equipment such as a drone or a helicopter and extensive planning.Increasingly, vehicles and stationary infrastructure objects includecameras or other sensors (such as LiDAR, etc.) and are capable ofcommunicating with vehicles through inter-vehicle communication. Thisinter-vehicle communication network is sometimes referred to asvehicle-to-vehicle (V2V) communication and vehicle-to-infrastructure(V2I) communication (sometimes referred to collectively as V2Xcommunication).

SUMMARY

The appended claims define this application. The present disclosuresummarizes aspects of the embodiments and should not be used to limitthe claims. Other implementations are contemplated in accordance withthe techniques described herein, as will be apparent to one havingordinary skill in the art upon examination of the following drawings anddetailed description, and these implementations are intended to bewithin the scope of this application.

Example embodiments are disclosed for inter-vehicle cooperation forvehicle self imaging. An example vehicle includes an inter-vehiclecommunication module and a infotainment head unit. The infotainment headunit determines a pose of the vehicle and, in response to receiving aninput to generate a composite image, broadcasts a request for images ofthe vehicle. The request message includes the pose. The infotainmenthead unit also generates the composite image of the vehicle based on theimages and display the composite image on a display.

A method to generate an image of a host vehicle includes determining, bya processor of the host vehicle, a pose of the host vehicle. The methodalso includes, in response to receiving an input to generate a compositeimage, broadcasting, via an inter-vehicle communication module of thehost vehicle, a request to target vehicles for images of the hostvehicle, the request message including the pose. Additionally, theexample method includes generating, with the processor, the compositeimage of the vehicle based on the images, and displaying, on a displayof the host vehicle, the composite image.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, reference may be made toembodiments shown in the following drawings. The components in thedrawings are not necessarily to scale and related elements may beomitted, or in some instances proportions may have been exaggerated, soas to emphasize and clearly illustrate the novel features describedherein. In addition, system components can be variously arranged, asknown in the art. Further, in the drawings, like reference numeralsdesignate corresponding parts throughout the several views.

FIG. 1 illustrates a vehicle operating in accordance with thisdisclosure.

FIG. 2 illustrates an example human machine interface to display andmanipulate the composite image.

FIG. 3 is a block diagram of electronic components of the vehicle ofFIG. 1.

FIG. 4 is a flowchart of a method to construct a composite image usingimages received via inter-vehicle communication, which may beimplemented by the electronic components of FIG. 3.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

While the invention may be embodied in various forms, there are shown inthe drawings, and will hereinafter be described, some exemplary andnon-limiting embodiments, with the understanding that the presentdisclosure is to be considered an exemplification of the invention andis not intended to limit the invention to the specific embodimentsillustrated.

Increasingly, vehicles and infrastructure objects (e.g., trafficsignals, bridges, police surveillance pods, lamp posts, etc.) includeinter-vehicle communication modules that facilitate communicationbetween vehicles, infrastructure, and pedestrians. These vehicles andinfrastructure objects also increasingly include and/or have 3rd partysupport for cameras (e.g., color cameras, monochrome cameras,time-of-flight cameras, stereo cameras, monocular cameras, etc.) andother sensors (e.g., LiDAR, etc.) available to capture images of nearbyobjects and vehicles. However, the cameras rarely provide images ofobjects in a scene that is desired by an interested party.

As discussed below, an occupant of a vehicle requests a compositevehicle image using a button on a human-machine interface (HMI), such asthe infotainment system of the vehicle and/or an application (such asFordPass) executing on a mobile device (e.g., a smartphone, a smartwatch, etc.). In response to the request, the vehicle (sometimesreferred to as the “host vehicle”), via an inter-vehicle communicationmodule (sometimes referred to as a “vehicle-to-vehicle (V2V) module” ora “dedicated short range communication (DSRC) module”), broadcastsmessages requesting that other vehicles (sometimes referred to as“target vehicles”) and/or inter-vehicle communication enabledinfrastructure modules (sometimes referred to as “roadside units”)capture one or more images of the host vehicle and send the capturedimages to the host vehicle. As the images are received, the host vehicleprogressively generates a composite image using a process ofthree-dimensional scene stitching, such as a structure from motiontechnique and/or sensor fusion. The host vehicle judges a quality of thecomposite image based on the received images and estimates a time inwhich the composite image will be completed based on a rate of which thevehicle is receiving image from a diverse set of angles, distances,and/or heights. In some examples, the estimated time is affected bymotion of the vehicle and the traffic rate in the area of the vehicle.The estimated time is provided to the user. When the composite image iscomplete (or when the occupant decides to stop the process), thecomposite image is displayed to the occupant(s) on, for example, acenter console display of an infotainment system. Through the HMI, theuser may save the composite image (e.g., to memory of the vehicle, tocloud storage, etc.) and delete the composite image. The HMI facilitatesthe user altering the composition of the composite image (e.g., changethe pan, tilt, zoom, and/or camera translation, etc.) and/or thebackground of the composite image. Additionally, in some examples, theinfotainment system facilitates altering (e.g., via predefined visualfilters) and posting the composite image to social media. In someexamples, the vehicle generates a video using translations (e.g., changethe pan, tilt, zoom, etc.) and/or multiple iterations of the compositeimage.

FIG. 1 illustrates a vehicle 100 operating in accordance with thisdisclosure. The vehicle 100 may be a standard gasoline powered vehicle,a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and/or anyother mobility implement type of vehicle. The vehicle 100 may be anytype of motor vehicle, such as a car, a truck, a semi-trailer truck, ora motorcycle, etc. Additionally, in some examples, the vehicle 100 istowing a trailer (which, as discussed below, may be treated as part ofthe vehicle 100). The vehicle 100 includes parts related to mobility,such as a powertrain with an engine, a transmission, a suspension, adriveshaft, and/or wheels, etc. The vehicle 100 may be non-autonomous,semi-autonomous (e.g., some routine motive functions controlled by thevehicle 100), or autonomous (e.g., motive functions are controlled bythe vehicle 100 without direct driver input). The vehicle may bestationary or in motion during image capture. In the illustrated examplethe vehicle 100 includes an inter-vehicle communication module (IVCM)102, an on-board communication module (OBCM) 104, and an infotainmenthead unit (IHU) 106.

The inter-vehicle communication module 102 includes antenna(s), radio(s)and software to broadcast messages and to establish communicationbetween the host vehicle 100 and target vehicles 108, roadside units(not shown), and mobile device-based modules (not shown). Moreinformation on the inter-vehicle communication network and how thenetwork may communicate with vehicle hardware and software is availablein the U.S. Department of Transportation's Core June 2011 SystemRequirements Specification (SyRS) report (available athttp://www.its.dot.gov/meetings/pdf/CoreSystem_SE_SyRS_RevA%20(2011-06-13).pdf),which is hereby incorporated by reference in its entirety along with allof the documents referenced on pages 11 to 14 of the SyRS report. Theinter-vehicle communication systems may be installed on vehicles andalong roadsides on infrastructure. The inter-vehicle communicationsystems incorporated into infrastructure (e.g., traffic signals, streetlights, municipal cameras, etc.) is known as a “roadside” system orunit. inter-vehicle communication may be combined with othertechnologies, such as Global Position System (GPS), Visual LightCommunications (VLC), Cellular Communications, and short range radar,facilitating the vehicles communicating their position, speed, heading,relative position to other objects and to exchange information withother vehicles or external computer systems. inter-vehicle communicationsystems can be integrated with other systems such as mobile phones.

In some examples, the inter-vehicle communication module 102 implementsthe Dedicated Short Range Communication (DSRC) protocol. Currently, theDSRC network is identified under the DSRC abbreviation or name. However,other names are sometimes used, usually related to a Connected Vehicleprogram or the like. Most of these systems are either pure DSRC or avariation of the IEEE 802.11 wireless standard. However, besides thepure DSRC system it is also meant to cover dedicated wirelesscommunication systems between cars and roadside infrastructure system,which are integrated with GPS and are based on an IEEE 802.11 protocolfor wireless local area networks (such as, 802.11p, etc.).

The on-board communications module 104 includes wired or wirelessnetwork interfaces to enable communication with external networks. Theon-board communications module 104 includes hardware (e.g., processors,memory, storage, antenna, etc.) and software to control the wired orwireless network interfaces. In the illustrated example, the on-boardcommunications module 104 includes one or more communication controllersfor standards-based networks (e.g., Global System for MobileCommunications (GSM), Universal Mobile Telecommunications System (UMTS),Long Term Evolution (LTE), Code Division Multiple Access (CDMA), WiMAX(IEEE 802.16m); local area wireless network (including IEEE 802.11a/b/g/n/ac or others), and Wireless Gigabit (IEEE 802.11ad), etc.). Insome examples, the on-board communications module 104 includes a wiredor wireless interface (e.g., an auxiliary port, a Universal Serial Bus(USB) port, a Bluetooth® wireless node, etc.) to communicatively couplewith a mobile device (e.g., a smart phone, a smart watch, a tablet,etc.). In such examples, the vehicle 100 may communicated with theexternal network via the coupled mobile device. The external network(s)may be a public network, such as the Internet; a private network, suchas an intranet; or combinations thereof, and may utilize a variety ofnetworking protocols now available or later developed including, but notlimited to, TCP/IP-based networking protocols. In some examples, thevehicle 100 communicates with an external server, via the on-boardcommunications module 104 to receive information (e.g., weather,background images, etc.) about a current location of the vehicle 100.For example, the vehicle 100 may request from the external serverbackground images of the vicinity of the vehicle 100 to enhance thecomposite image generated by the vehicle 100. In some examples, thevehicle 100 receives from the external server a three-dimensional modelof the vehicle 100 that is used, at least in part, to provide additionalviewing perspectives in the composite image that may not been capturedin received images.

The infotainment head unit 106 provides an interface between the vehicle100 and a user. The infotainment head unit 106 includes digital and/oranalog interfaces (e.g., input devices and output devices) to receiveinput from the user(s) and display information. The input devices mayinclude, for example, a control knob, an instrument panel, a digitalcamera for image capture and/or visual command recognition, a touchscreen, an audio input device (e.g., cabin microphone), buttons, or atouchpad. The output devices may include instrument cluster outputs(e.g., dials, lighting devices), actuators, a heads-up display, a centerconsole display (e.g., a liquid crystal display (“LCD”), an organiclight emitting diode (“OLED”) display, a flat panel display, a solidstate display, etc.), and/or speakers. In the illustrated example, theinfotainment head unit 106 includes hardware (e.g., a processor orcontroller, memory, storage, etc.) and software (e.g., an operatingsystem, etc.) for an infotainment system (such as SYNC® and MyFordTouch® by Ford®, Entune® by Toyota®, IntelliLink® by GMC®, etc.).Additionally, the infotainment head unit 106 displays the infotainmentsystem on, for example, the center console display. In the illustratedexample, the infotainment head unit 106 includes an image compositor110.

The image compositor 110 generates a composite image orthree-dimensional model in response to an input by a vehicle occupant.For example, the occupant may touch a virtual button on the infotainmentsystem to activate the system. To initiate generating the compositeimage, the image compositor 110 determines the pose of the vehicle 100.The pose of the vehicle includes information, such as location,orientation, characteristics (e.g., color, make, model, etc.) thatfacilitates the target vehicles 108 and/or the roadside units locatingand identifying the host vehicle 100. For example, the pose of thevehicle 100 may include global positioning system (GPS) coordinates,direction of travel, and vehicle color. The image compositor 110broadcasts a request message with the pose information that causestarget vehicles 108 and/or roadside units in the vicinity to capture oneor more images of the host vehicle 100 with their camera(s) 112.

As the image compositor 110 receives images, it determines an estimatedtime to generate the composite image. The time is based on the rate atwhich the image compositor 110 receives images, how diverse the imagesare (e.g., considering distance, angle, and height, etc.) and/or theestimated traffic conditions in the area, etc. The image compositor 110causes a representation of the estimated time to be displayed on theinfotainment system. Additionally, in some examples, the estimated timetakes into account image processing to homogenize images from varioussources that have different visual characteristics (e.g., differentresolutions, color balances, brightness, color schema, etc.).Additionally, in some examples, the estimated time is affected by aimage quality preference (e.g., resolution, size, etc.) specified by theuser. For example, if a user desires a high quality image (such as 12megapixels), the image compositor 110 may estimate more time becauserequisite high quality images are likely to be received as a lower ratethan lower quality images (such as 1 megapixels).

The image compositor 110 locates the host vehicle 100 in the scene usingthe received images based on the vehicle pose and the estimatedorientation of the corresponding camera 112 that captured the images.The image compositor 110 uses feature detection techniques (e.g., ascale-invariant feature transform (SIFT) technique, a speeded up robustfeatures (SURF) technique, convolution neural network for semanticsegmentation or feature detection, visual simultaneous localization andmapping (vSLAM), etc.) and/or image segmentation to compared andcontrast features in the images to confirm the approximate vector,position and orientation of the cameras 112 that captured the images. Insome examples, available high resolution images of the area and threedimensional mapping of the scene (e.g., from an external server, etc.)based on the position of the host vehicle 100 are also used to helplocate the cameras 112 in space relative to the host vehicle 100. Usingsemantic segmentation of current images and past data collections,transitory objects can be removed from the scene(s) when desired enablethe image compositor 110 to use historical and present day receivedimages to generate the composite image. Using a structure of motiontechnique, feature points of the host vehicle 100 are identified in thereceived images. The image compositor 110 uses the positioning of thefeature points and a three dimensional model of the host vehicle 100 tostitch at least portions of the images together to create the compositeimage of the host vehicle 100. Example structure from motion techniquesare described in Crandall, David J., et al. “SfM with MRFs:Discrete-continuous optimization for large-scale structure from motion.”IEEE transactions on pattern analysis and machine intelligence 35.12(2013): 2841-2853, which is incorporated by reference in its entirety.

The image compositor 110 determines whether enough images have beenreceived to generate the composite image. In some examples, enoughimages have been received when there are images to complete a viewableangle of the host vehicle 100. The image compositor 110 will continue tobroadcast the request message when enough images have not been received.In some examples, the image compositor 110 notifies the user that theimage cannot be completed when enough images have not been received in athreshold period of time.

When the composite image is complete, the image compositor 110 displaysthe composite image via the infotainment system and/or a mobile deviceof the user that is communicatively coupled to the vehicle 100. In someexamples, the image compositor 110 displays the composite image as it isbeing generate such that a user can see the progress of the compositeimage as new images are received and processed. In some examples, usingthe composite image layered onto the model of the host vehicle 100, theimage compositor 110 facilitates altering the composition of thecomposite image (e.g., angle of a virtual camera, etc.). In someexamples, using images received from an external server, the imagecompositor 110 facilitates a user changing a background of the compositeimage. For example, when the host vehicle 100 is parked at a scenic viewpoint, the image compositor 110 may download a background image to usein the composite image. In such an examples, the image compositor 110may select an available background image that depicts the scenicviewpoint on a sunny day when the actual weather is overcast.Additionally, in some examples, the image compositor 110 uses deep photostyle transfer to alter the scene in the composite image. Alternatively,in some examples, the image compositor 110 may use upload the compositeimage to the external server to have the composite image processed tochange the context of the scene.

FIG. 2 illustrates an example human machine interface (HMI) 200 todisplay and manipulate the composite image 202. In some examples, theHMI 200 is displayed on a console of the infotainment head unit 106.Additionally or alternatively, in some examples, the HMI 200 is displayson a screen of a mobile device via an application executing on themobile device. In the illustrated example, the user interacts with theHMI 200 via a touch screen interface. The HMI 200 depicts the compositeimage 202 as generate by a virtual camera that is used to define therendering parameters of the composite image 202. In some examples, usinga three-dimensional model of the vehicle 100, the image compositor 110generates a three dimensional scene with the received images compositedonto the model and, in some example, downloaded images to serve as abackground of the scene. The HMI 200 facilitates the user changing thescene (e.g., changing the location of the virtual camera, thecomposition of the background, etc.). In the illustrated example, theHMI 200 includes a zoom tool 204, a pan tool 206, a image compositeadjustment tool 208, and a social media tool 210.

The zoom tool 204 facilitates changing a draw distance by changing theposition of the virtual camera. The pan tool 206 facilitates a userchanging an orientation of a viewport of the virtual camera to changethe portion of the scene that is rendered in the composite image 202.The image composite adjustment tool 208 (a) adjusts an timeframe fromwhich to use images in the composite image and/or (b) adjust a timeframefrom which to use images to generate a video of the scene. For example,when the vehicle 100 is moving, the image composite adjustment tool 208may be used to specify a timeframe from which to use received images togenerate a sequential set of composite images 202 to be appendedtogether to form a video. The social media tool facilitates uploadingthe composite image 202 to social media and/or applying post-renderfilters to the composite image 202.

FIG. 3 is a block diagram of electronic components 300 of the vehicle100 of FIG. 1. In the illustrated example, the electronic components 300include the inter-vehicle communication module 102, the on-boardcommunications module 104, the infotainment head unit 106, and a vehicledata bus 302.

In the illustrated example, the infotainment head unit 106 includes aprocessor or controller 304 and memory 306. In the illustrated example,the infotainment head unit 106 is structured to include the imagecompositor 110. Alternatively, in some examples, the image compositor110 may be incorporated into another electronic control unit (ECU) withits own processor and memory (such as on-board computing platform,etc.). The processor or controller 304 may be any suitable processingdevice or set of processing devices such as, but not limited to: amicroprocessor, a microcontroller-based platform, a suitable integratedcircuit, one or more field programmable gate arrays (FPGAs), and/or oneor more application-specific integrated circuits (ASICs). The memory 306may be volatile memory (e.g., RAM, which can include non-volatile RAM,magnetic RAM, ferroelectric RAM, and any other suitable forms);non-volatile memory (e.g., disk memory, FLASH memory, EPROMs, EEPROMs,non-volatile solid-state memory, etc.), unalterable memory (e.g.,EPROMs), read-only memory, and/or high-capacity storage devices (e.g.,hard drives, solid state drives, etc). In some examples, the memory 306includes multiple kinds of memory, particularly volatile memory andnon-volatile memory.

The memory 306 is computer readable media on which one or more sets ofinstructions, such as the software for operating the methods of thepresent disclosure can be embedded. The instructions may embody one ormore of the methods or logic as described herein. In a particularembodiment, the instructions may reside completely, or at leastpartially, within any one or more of the memory 306, the computerreadable medium, and/or within the processor 304 during execution of theinstructions.

The terms “non-transitory computer-readable medium” and “tangiblecomputer-readable medium” should be understood to include a singlemedium or multiple media, such as a centralized or distributed database,and/or associated caches and servers that store one or more sets ofinstructions. The terms “non-transitory computer-readable medium” and“tangible computer-readable medium” also include any tangible mediumthat is capable of storing, encoding or carrying a set of instructionsfor execution by a processor or that cause a system to perform any oneor more of the methods or operations disclosed herein. As used herein,the term “tangible computer readable medium” is expressly defined toinclude any type of computer readable storage device and/or storage diskand to exclude propagating signals.

The vehicle data bus 302 communicatively couples the inter-vehiclecommunication module 102, the on-board communications module 104, andthe infotainment head unit 106. In some examples, the vehicle data bus302 includes one or more data buses. The vehicle data bus 302 may beimplemented in accordance with a controller area network (CAN) busprotocol as defined by International Standards Organization (ISO)11898-1, a Media Oriented Systems Transport (MOST) bus protocol, a CANflexible data (CAN-FD) bus protocol (ISO 11898-7) and/a K-line busprotocol (ISO 9141 and ISO 14230-1), and/or an Ethernet™ bus protocolIEEE 802.3 (2002 onwards), etc.

FIG. 4 is a flowchart of a method to construct a composite image 202using images received via inter-vehicle communication, which may beimplemented by the electronic components 300 of FIG. 3. Initially, atblock 402, the image compositor 110 waits until a request has beenreceived to generate a composite image 202 (e.g., via the infotainmentsystem). When such as request has been received, at block 404, the imagecompositor 110 determines characteristics of the host vehicle 100 todetermine a geo-spatial orientation of the host vehicle 100 used tofacilitate the target vehicles 108 and/or roadside units determining therelative location of the host vehicle 100. At block 406, the imagecompositor 110 broadcasts a message via inter-vehicle communicationrequesting images. At block 408, the image compositor constructs acomposite image 202 of the vehicle 100 based on the received imagesbased on a structure from motion algorithm. In some examples, the imagecompositor 110 uses structure of motion techniques.

At block 410, the image compositor 110 determines whether enough imageshave been received. In some examples, the image compositor 110 using amodel of the host vehicle 100, determines what percentage of the surfaceof the host vehicle 100 is stitched into the composite image 202considering the pose of the vehicle 100. For example, when the locationof the host vehicle 100 indicates that the host vehicle 100 is parkedalongside the road so that likely one side of the host vehicle 100 isnot visible, the image compositor 110 may use an expected coverage atthat location to determine whether enough images have been received.When the image compositor 110 determines that enough images have notbeen received, the method continues at block 412. Otherwise, when theimage compositor 110 determines that enough images have been received,the method continues at block 414.

At block 412, the image compositor 110 presents the partially completedcomposite image 202 to the occupants via the infotainment system. Atblock 414, the image compositor 110 presents the composite image 202 tothe occupants via the infotainment system and/or a mobile device (e.g.,a smart phone, a smart watch, a tablet, etc.) communicative coupled tothe host vehicle 100 via the on-board communications module 104.

The flowchart of FIG. 4 is representative of machine readableinstructions stored in memory (such as the memory 306 of FIG. 3) thatcomprise one or more programs that, when executed by a processor (suchas the processor 304 of FIG. 3), cause the vehicle 100 to implement theexample image compositor 110 of FIGS. 1 and 3. Further, although theexample program(s) is/are described with reference to the flowchartillustrated in FIG. 4, many other methods of implementing the exampleimage compositor 110 may alternatively be used. For example, the orderof execution of the blocks may be changed, and/or some of the blocksdescribed may be changed, eliminated, or combined.

In this application, the use of the disjunctive is intended to includethe conjunctive. The use of definite or indefinite articles is notintended to indicate cardinality. In particular, a reference to “the”object or “a” and “an” object is intended to denote also one of apossible plurality of such objects. Further, the conjunction “or” may beused to convey features that are simultaneously present instead ofmutually exclusive alternatives. In other words, the conjunction “or”should be understood to include “and/or”. As used here, the terms“module” and “unit” refer to hardware with circuitry to providecommunication, control and/or monitoring capabilities, often inconjunction with sensors. “Modules” and “units” may also includefirmware that executes on the circuitry. The terms “includes,”“including,” and “include” are inclusive and have the same scope as“comprises,” “comprising,” and “comprise” respectively.

The above-described embodiments, and particularly any “preferred”embodiments, are possible examples of implementations and merely setforth for a clear understanding of the principles of the invention. Manyvariations and modifications may be made to the above-describedembodiment(s) without substantially departing from the spirit andprinciples of the techniques described herein. All modifications areintended to be included herein within the scope of this disclosure andprotected by the following claims.

1. A vehicle comprising: an inter-vehicle communication module; and aninfotainment head unit to: determine a pose of the vehicle; in responseto receiving an input to generate a composite image of the vehicle,broadcast a request for images of the vehicle, the request including thepose; generate the composite image of the vehicle based on the images;display the composite image of the vehicle on a display.
 2. The vehicleof claim 1, wherein to generate the composite image of the vehicle, theinfotainment head unit is to stitch the images together using astructure from motion technique.
 3. The vehicle of claim 1, wherein theinfotainment head unit is to estimate a time to complete generating thecomposite image.
 4. The vehicle of claim 3, wherein the time to completegenerating the composite image is based on a diversity of views of thevehicle in the images and a rate at which the images are received. 5.The vehicle of claim 1, wherein a three-dimensional model of the vehicleis stored in memory of the infotainment head unit.
 6. The vehicle ofclaim 5, wherein the infotainment head unit is to: overlay the compositeimage onto the three-dimensional model; and facilitate, via the display,changing a view angle of a scene with the three-dimensional model togenerate a new composite image.
 7. The vehicle of claim 1, wherein thepose includes coordinates of the vehicle, an orientation of the vehicle,and at least one of a color of the vehicle or a model of the vehicle. 8.The vehicle of claim 1, wherein the infotainment head unit is to displaythe composite image when the composite image is partially completed asthe images are received over time.
 9. A method to generate an image of ahost vehicle: determining, by a processor of the host vehicle, a pose ofthe host vehicle; in response to receiving an input to generate acomposite image of the host vehicle, broadcasting, via an inter-vehiclecommunication module of the host vehicle, a request to target vehiclesfor images of the host vehicle, the request including the pose;generating, with the processor, the composite image of the host vehiclebased on the images; displaying, on a display of the host vehicle, thecomposite image.
 10. The method of claim 9, wherein generating thecomposite image of the host vehicle includes stitching the imagestogether using a structure from motion technique.
 11. The method ofclaim 9, including estimating a time to complete generating thecomposite image of the host vehicle.
 12. The method of claim 11, whereinthe time to complete generating the composite image of the host vehicleis based on a diversity of views of the host vehicle in the images and arate at which the images are received.
 13. The method of claim 9,wherein a three-dimensional model of the host vehicle is stored inmemory of the host vehicle.
 14. The method of claim 13, including:overlaying the composite image of the host vehicle onto thethree-dimensional model; and facilitating, via the display, changing thea view angle of a scene with the three-dimensional model to generate anew composite image.
 15. The method of claim 9, wherein the poseincludes coordinates of the host vehicle, an orientation of the hostvehicle, and at least one of a color of the host vehicle or a model ofthe host vehicle.
 16. The method of claim 9, including displaying thecomposite image of the host vehicle when the composite image ispartially completed as the images are received over time.
 17. A vehiclecomprising: an inter-vehicle communication module; and an infotainmenthead unit, including memory storing a three-dimensional model of thevehicle, to: determine a pose of the vehicle; in response to receivingan input to generate a composite image of the vehicle, broadcast arequest for images of the vehicle, the request including the pose;generate the composite image of the vehicle based on the images; overlaythe composite image onto the three-dimensional model of the vehicle; anddisplay three-dimensional model of the vehicle with the overlayedcomposite image of the vehicle on a display.